Last Reference Point

The last reference point visualizer simply visualizes the last requested point of the track centerline. This allows for fast efficient debugging and helps tuning controller parameters.
Depending on the configuration, the reference is either depicted as a simple point, or as an arrow indicating the yaw angle at the requested position.

Example Configuration

visualizer:
  rate: 10
  type: last_reference
  # Visualizer specific  parameters
  frame_id: crs_frame # default
  namespace: pid_controller

  use_arrows: false # If true, use arrows to visualize planned and reference yaw angle. This option is a lot slower and may introduce visual lags


  r: 1
  g: 0
  b: 0
  a: 1
  size_x: 0.05 # 0.07 for arrows
  size_y: 0.05 # 0.02 for arrows
  size_z: 0.05 # 0.02 for arrows